# Copyright (c) 2016 The UUV Simulator Authors.
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# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
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#     http://www.apache.org/licenses/LICENSE-2.0
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# measured range [m] or < 0 if invalid
float64 range
float64 range_covariance

float64 velocity # measured velocity [m/s] of corr. beam
float64 velocity_covariance

# Beam link pose wrt DVL link frame
geometry_msgs/PoseStamped pose
